The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled into a polytopic-type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performances such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. A parameter-dependent weight is investigated in the LPV synthesis. It is shown that the designed controller performs well over the entire operating range by computer simulation.
Depth control of an underwater vehicle using linear parameter-varying techniques
International Journal of Offshore and Polar Engineering ; 13 , 1 ; 52-59
2003
8 Seiten, 14 Quellen
Article (Journal)
English
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